CN110986992A - Navigation method and device for unmanned vending vehicle, electronic equipment and storage medium - Google Patents
Navigation method and device for unmanned vending vehicle, electronic equipment and storage medium Download PDFInfo
- Publication number
- CN110986992A CN110986992A CN201911414977.7A CN201911414977A CN110986992A CN 110986992 A CN110986992 A CN 110986992A CN 201911414977 A CN201911414977 A CN 201911414977A CN 110986992 A CN110986992 A CN 110986992A
- Authority
- CN
- China
- Prior art keywords
- unmanned
- vehicle
- sales data
- selling
- commodity sales
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3476—Special cost functions, i.e. other than distance or default speed limit of road segments using point of interest [POI] information, e.g. a route passing visible POIs
Abstract
The embodiment of the invention relates to a navigation method, a navigation device, electronic equipment and a storage medium for an unmanned vending vehicle, relating to the field of unmanned vehicles (or called as automatic driving or unmanned driving), wherein the method comprises the following steps: acquiring commodity sales data of at least two road sections in a cruising area of an unmanned selling vehicle; planning a cruising route for the unmanned selling vehicle according to the commodity sales data of the at least two road sections; controlling the unmanned vending vehicle to travel along the cruising route. The embodiment of the invention solves the problems that the current unmanned selling vehicle can only sell along a preset fixed line and the selling efficiency is low.
Description
Technical Field
The embodiment of the invention relates to the technical field of unmanned driving, in particular to a navigation method and device for an unmanned vending vehicle, electronic equipment and a storage medium.
Background
Unmanned vehicle of selling is one of unmanned vehicle, relies on-vehicle sensing system perception road environment, and the circuit is cruises in the definite line, carries out the intelligent automobile of selling the task simultaneously. The intelligent control system integrates a plurality of technologies such as automatic control, a system structure, artificial intelligence, visual calculation and the like, is a product of high development of computer science, mode recognition and intelligent control technologies, is an important mark for measuring national scientific research strength and industrial level, and has wide application prospect in the fields of national defense and national economy.
But the current unmanned vehicle that sells generally adopts is that fixed line cruises carry out the commodity and sells. In other words, at present, the unmanned vehicle can only sell along a preset fixed line, and the selling efficiency is low.
Disclosure of Invention
At least one embodiment of the invention provides a navigation method and device, electronic equipment and a storage medium for an unmanned vending vehicle, and solves the problems that the current unmanned vending vehicle can only be vended along a preset fixed line, and the vending efficiency is low.
In a first aspect, an embodiment of the present invention provides a navigation method for an unmanned vending vehicle, including:
acquiring commodity sales data of at least two road sections in a cruising area of an unmanned selling vehicle;
planning a cruising route for the unmanned selling vehicle according to the commodity sales data of the at least two road sections;
controlling the unmanned vending vehicle to travel along the cruising route.
In a second aspect, an embodiment of the present invention further provides a navigation device for an unmanned vending vehicle, including:
the commodity sales data acquisition module is used for acquiring commodity sales data of at least two road sections in the unmanned selling vehicle cruising area;
the cruise route planning module is used for planning a cruise route for the unmanned selling vehicle according to the commodity sales data of the at least two road sections;
a travel control module for controlling the unmanned vending vehicle to travel along the cruising route.
In a third aspect, an embodiment of the present invention further provides an electronic device, including: a processor and a memory;
the processor is configured to perform the steps of any of the methods described above by calling a program or instructions stored in the memory.
In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, which stores a program or instructions, where the program or instructions cause a computer to execute the steps of any one of the above methods.
According to the navigation method of the unmanned selling vehicle, provided by the embodiment of the invention, commodity sales data of at least two road sections in a cruising area of the unmanned selling vehicle are obtained; planning a cruising route for the unmanned selling vehicle according to the commodity sales data of the at least two road sections; the unmanned vehicle of selling is controlled to follow route of cruising, is substantially according to the condition of selling dynamic adjustment route of the different highway sections, has solved present unmanned vehicle of selling and can only sell along preset fixed line, sells the problem with inefficiency, has reached the purpose that improves unmanned vehicle of selling's efficiency of selling.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.
FIG. 1 is a flow chart of a method for navigating an unmanned vending vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of all roads in a certain cruising area, according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of all roads in FIG. 2 divided into a plurality of road segments;
fig. 4 is a flowchart of a method for implementing S121 according to an embodiment of the present invention;
FIG. 5 is a schematic illustration of the road segment labeled in FIG. 3;
FIG. 6 is a flow chart of another method for navigating an unmanned vending vehicle according to an embodiment of the present invention;
FIG. 7 is a flow chart of another method for navigating an unmanned vending vehicle according to an embodiment of the present invention;
FIG. 8 is a flow chart of another method for navigating an unmanned vending vehicle according to an embodiment of the present invention;
FIG. 9 is a flow chart of another method for navigating an unmanned vending vehicle according to an embodiment of the present invention;
FIG. 10 is a flow chart of another navigation device for an unmanned vending vehicle according to an exemplary embodiment of the present invention;
fig. 11 is a block diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, the present invention will be further described in detail with reference to the accompanying drawings and examples. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. The specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention, are within the scope of the invention.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
In the research process, the applicant finds that one important reason that the selling efficiency of the current unmanned selling vehicle is low is that the unmanned selling vehicle can only sell goods along a preset fixed cruising route. In practice, some road sections are remote, people flow is rare, and the selling amount of unmanned selling vehicles on the road sections can be obviously reduced. Some highway sections are more busy, and the people is lively, but is limited to the circuit fixed, and only there is the unmanned vehicle of selling of limited quantity and cruises so far, seriously influences and sells efficiency.
To this, this application embodiment provides a navigation scheme of unmanned vehicle of selling to make unmanned vehicle of selling can be according to the condition of selling dynamic adjustment route of different highway sections, sell the effect of efficiency with the realization improvement unmanned vehicle of selling.
The navigation scheme of unmanned vehicle of selling that this application embodiment provided can be applied to unmanned vehicle of selling.
Fig. 1 is a flowchart of a navigation method for an unmanned vending vehicle according to an embodiment of the present invention. The method is suitable for cruise route planning and navigation of the unmanned selling vehicle before the commodity selling task is executed, and can also be suitable for cruise route planning and navigation in the process of executing the commodity selling task. The execution main body of the method can be an unmanned selling vehicle, and can also be a cloud server wirelessly connected with the unmanned selling vehicle. The method can also be executed by cooperation of the unmanned selling vehicle and the cloud server. The method comprises the following steps:
and S110, acquiring commodity sales data of at least two road sections in the unmanned selling vehicle cruising area.
The unmanned vend vehicle cruise area may be a park, a street near an office building, a street near a subway station, a street near a residential neighborhood, and the like.
The road segments are the result of dividing the road, and exemplarily, fig. 2 is a schematic diagram of all roads in a certain cruising area according to an embodiment of the present invention, and fig. 3 is a schematic diagram of all roads in fig. 2 divided into a plurality of road segments. In practice, there are various dividing standards for dividing roads, and the present application does not limit this. Alternatively, the division criteria may be user-defined. For example, one road segment per 100 meters. Or, the road between two adjacent intersections is a road section. The lengths of the different road sections may be the same or different.
The commodity sales data includes commodity sales amounts. The commodity sales data of a link means the commodity sales amount per unit time for the link. The method for acquiring the commodity sales data of the determined road section can be various, and can be obtained through field statistics of staff or unmanned selling vehicles, and can also be obtained through calculation according to related parameters such as passenger flow volume and commodity purchase rate of the road section.
If commodity sales data of the road sections are obtained through field statistics of the unmanned selling vehicles, optionally dividing the road in the cruising area into a plurality of road sections during specific implementation; acquiring average commodity sales data of unmanned vehicle sold in each road section; and forming commodity sales data of different road sections in the cruising area based on average commodity sales data of unmanned selling vehicles in each road section. Here, the "average commodity sales data" refers to commodity sales data of an average unmanned sales vehicle per unit time. Specifically, the average article sales data may include the sales amount of each article of the average unmanned sales vehicle per unit time, or may include the sum of the sales amounts of all articles of the average unmanned sales vehicle per unit time. Compared with a method for carrying out field statistics by workers, the method for carrying out field statistics by unmanned selling vehicles is more intelligent, and the workload of the workers can be reduced.
Further, consider that in practice, the sales of goods are often high during times of high traffic volume, and certain road segments may exhibit distinct traffic volumes at different times of the day or on different days of the week, such as the peak time traffic volume at morning and evening (i.e., commuting time) of the road segments near the company being greater than the peak time traffic volume, and the end of park week traffic volume being greater than the business day traffic volume. For this purpose, optionally, the specific implementation manner of this step includes: and acquiring average commodity sales data of the unmanned selling vehicles in each road section in at least one time period. Wherein, the time period refers to one day, one week, one month or one year. The commodity sales data of each period of time in whole time cycle can be obtained to setting up like this to follow-up can combine the period of time more accurate for unmanned vehicle planning cruising route of selling, with the efficiency of selling of improvement.
Wherein the time period is the result of time division. In practice, there are various division standards for dividing the time period, and the present application does not limit this. Optionally, each hour is divided into a period; alternatively, 8: 00-10: 00 is a time period, 10:00-17:00 is a time period, 17: 00-19: 00 is a time period; the time spans of the different periods may be the same or different. Optionally, the time span of different time periods is the same, so that the cruising route can be planned for the unmanned selling vehicle more accurately in combination with the time periods in the following period, and the selling efficiency is improved.
Optionally, after the unmanned vehicle finishes the commodity selling task, the commodity selling data of the at least two passing road sections are collected and sent to the server. When the step is executed, the unmanned selling vehicle needing to execute the commodity selling task acquires commodity selling data of at least two road sections in the cruising area of the unmanned selling vehicle from the server. The benefits of this arrangement are: firstly, commodity sales data in the server are always in a dynamic updating state, so that the validity of the commodity sales data can be ensured; secondly, the commodity sales data are acquired and counted in the process of daily task execution of the vehicle sold by the user, so that the workload of workers can be reduced; thirdly, as the commodity sales data are stored in the server, the unmanned selling vehicle for uploading the commodity sales data to the server and the unmanned selling vehicle for acquiring the commodity sales data from the server can be the same vehicle or different vehicles, so that the unmanned selling vehicle can be conveniently dispatched.
And S120, planning a cruising route for the unmanned selling vehicle according to the commodity sales data of the at least two road sections.
The essence of the step is that a route with large commodity sales volume is selected as a cruising route of the unmanned selling vehicle according to commodity sales data of at least two road sections.
And S130, controlling the unmanned selling vehicle to travel along the cruising route.
According to the embodiment of the invention, the cruising route is planned for the unmanned selling vehicle according to the commodity selling data of at least two road sections, so that the cruising route can be dynamically adjusted by the unmanned selling vehicle according to the selling conditions of different road sections, and the effect of improving the selling efficiency of the unmanned selling vehicle is realized.
In the above scheme, there are various implementation methods of S120. Fig. 4 is a flowchart of a method for implementing S120 according to an embodiment of the present invention. Referring to fig. 4, the method includes:
s121, determining a necessary road section for selling the vehicle by the unmanned aerial vehicle according to the commodity sales data of the at least two road sections.
The essence of this step is to screen the must-pass road sections from a number of multipath sections. The specific implementation method of the step is various, and exemplarily, the road section with the commodity sale amount larger than the set threshold is determined to be a necessary road section of the unmanned sale vehicle.
Further, when the sections of the unmanned vehicle that must pass through in each time period need to be determined by combining the time periods, the commodity sales data related to the current time period may be first screened from the commodity sales data of at least two sections, and then the sections of the unmanned vehicle that must pass through are determined.
For example, the current working day is determined, and the commodity sales data of each road section in the working day cruising area is screened out. Then further determine different time periods such as 8: 00-10: required road section of 00, 17: 00-19: 00.
And S122, planning a cruising route for the unmanned selling vehicle, wherein the cruising route comprises a must-pass road section.
The essence of this step is that the planned cruising route passes through the obligatory road segment. For example, fig. 5 is a schematic diagram of the road sections marked as necessary in fig. 3. Referring to fig. 5, if the road segment a, the road segment b, and the road segment c are required road segments of the vendless vehicle, the path indicated by the arrow in fig. 5 may be used as the vendless vehicle cruise route to ensure that the vendless vehicle traverses the required road segments during traveling along the cruise route.
It should be noted that, in the present application, there is no limitation on the selection manner of the path connecting between two adjacent sections that must pass through when performing the step. For example, with continued reference to fig. 5, when the road segment a is reached from the road segment c, there may be many routes that can be selected, such as routes with fewer vehicles, or routes with the shortest distance may be selected. The path shown in fig. 5 is the path with the shortest distance.
It should be noted that, in practice, the route planning of the unmanned vending vehicle includes the following two cases:
the method comprises the steps that firstly, before a commodity selling task is executed, the whole cruising path of an unmanned selling vehicle in the process of executing the commodity selling task is planned at one time, then cruising is carried out according to the cruising path, and the unmanned selling vehicle sequentially arrives at all necessary road sections to sell commodities.
In the second case, in the process of executing the commodity selling task, the unmanned selling vehicle determines only the next required road segment, arrives, sells the commodity, determines the next required road segment again … … each time, and the process is repeated.
Specific examples are given below for these two cases, respectively, but this does not limit the present application.
Fig. 6 is a flowchart of another navigation method for an unmanned vending vehicle according to an embodiment of the present invention. Fig. 6 is a specific example of fig. 1, which corresponds to the first case. Referring to fig. 6, the navigation method of the unmanned vending vehicle includes:
s210, commodity sales data of at least two road sections in the unmanned selling vehicle cruising area are obtained, wherein the commodity sales data of each road section comprises commodity sales data of at least two time periods.
The time period is the result of time division. In practice, there are various division standards for dividing the time period, and the present application does not limit this. Optionally, each hour is divided into a period; alternatively, 8: 00-10: 00 is a time period, 10:00-17:00 is a time period, 17: 00-19: 00 is a time period; the time spans of the different periods may be the same or different.
Optionally, a specific implementation manner in this step includes: obtaining a sales record of each commodity in a patrol area of the unmanned selling vehicle, wherein the sales record comprises the time of sales and the position of sales; determining a road section division rule and a time period division rule; classifying the sales records of all commodities according to the road section division rule and the time period division rule, and further determining the sales volume of the commodities in each time period of each road section; and taking the sales volume of each section in each time period as commodity sales data of at least two sections in the unmanned selling vehicle cruising area. The sales of goods for three road segments at different time periods are exemplarily given in table 1.
TABLE 1
S220, determining the sections of the unmanned selling vehicle which are necessary to pass each time period according to the commodity selling data of at least two sections.
The specific implementation method of the step is various, and exemplarily, the road section with the commodity sale amount larger than the set threshold is determined to be a necessary road section of the unmanned sale vehicle.
Illustratively, this step is further illustrated below in connection with Table 1. The set threshold is defined as 20. In the following step 8: 00-10: in the time period of 00, only if the commodity selling amount of the road section f is more than 20, the road section f is regarded as 8: 00-10: 00 is a must pass segment of the time period. At 17: 00-19: in the time period of 00, similarly, only if the commodity sales volume of the road section f is more than 20, the road section f is taken as 17: 00-19: 00 is a must pass segment of the time period. In the following 10:00-17: in the time period of 00, the commodity selling amount of the road section f and the commodity selling amount of the road section d are both more than 20. At this time, any one of the link f and the link d may be regarded as 10:00-17:00 is a must pass segment of the time period.
Further, when the number of the road segments with the commodity sales volume larger than the set threshold value in the same time period is larger than 1, the road segment with the largest commodity sales volume may be used as the inevitable path in the time period, and for example, according to table 1, the road segment d is used as 10:00-17:00 is a must pass segment of the time period. Optionally, the cruising path of other unmanned selling vehicles can be obtained, and the necessary road section of the unmanned selling vehicle is determined according to the cruising path of other unmanned selling vehicles. If it is assumed that one of the other unmanned selling vehicles takes the section d as 10:00-17:00, and at this time, the unmanned vending vehicle takes the section f as 10:00-17:00, so that all the unmanned selling vehicles can traverse the sections with larger sales volumes.
It should be further noted that the set thresholds for determining the required road segments in different time periods may be the same or different, and this application is not limited thereto.
And S230, planning the cruising route of the unmanned selling vehicle to reach each necessary road section according to the sequence.
Still taking table 1 as an example, by performing S220, it is determined that the link f is 8: 00-10: a must-pass segment of 00, segment d is 10:00-17: a must-pass segment of 00, segment f is 17: 00-19: 00. It is thus determined that the unmanned vehicle first arrives from the departure location at section f, then arrives at section d, and finally returns to section f.
And S240, controlling the unmanned selling vehicle to travel along the cruising route.
In practice, some road sections may show distinct traffic at different times of the day or on different days of the week, for example, the traffic at the peak time in the morning and at the evening (i.e., the commuting time) of the road sections near the company is greater than the traffic at the peak time, the traffic at the weekend of the park is greater than the traffic on the working day, etc. The technical scheme is that the cruising route is dynamically adjusted according to the passenger flow change of different road sections in different time periods, so that the unmanned selling vehicle has better selling efficiency in each time period.
Fig. 7 is a flowchart of another navigation method for an unmanned vending vehicle according to an embodiment of the present invention. Fig. 7 is a specific example of fig. 6, which corresponds to the first case. Referring to fig. 7, the navigation method of the unmanned vending vehicle includes:
s310, commodity sales data of at least two road sections in the unmanned selling vehicle cruising area are obtained, and the commodity sales data of each road section comprises commodity sales data of at least two time periods.
And S320, determining the sections of the unmanned selling vehicle which are necessary to pass each time period according to the commodity selling data of at least two sections.
S330, determining the stay time of the unmanned selling vehicle on each necessary road section according to the commodity sales data of the necessary road section.
It should be noted that the time for the vehicle to travel on the route connecting two adjacent required road sections needs to be considered when determining the stay time of the unmanned vending vehicle on each required road section.
Optionally, when the time spans in different time periods are the same, the stay time of the unmanned vending vehicle in the necessary road section is positively correlated with the commodity vending amount of the road section. The arrangement can ensure that the unmanned selling vehicle has enough commodity selling time in each road section.
Still taking table 1 as an example, by performing S320, it is determined that the link f is 8: 00-10: a must-pass segment of 00, segment f is 17: 00-19: 00. In this step, since the ratio of 8: 00-10: and (3) the commodity sales volume of the section f in the 00 time period is large, the unmanned selling vehicle is determined to stay for 1.5 hours on the section, and the commodity sales volume of the section f in the 00 time period is 17: 00-19: and (4) the commodity sales volume of the section f in the period of 00 hours is small, and the unmanned selling vehicle is determined to stay for 1 hour on the section.
S340, planning a cruising route of the unmanned selling vehicle to reach each indispensable road section according to the sequence, and planning the stay time of the unmanned selling vehicle in each indispensable road section.
And S350, controlling the unmanned selling vehicle to travel along the cruising route.
Since in practice some road segments will exhibit distinct traffic volumes at different times of the day or on different days of the week. The technical scheme is that the cruising route is dynamically adjusted according to the passenger flow change of different road sections in different time periods, so that the unmanned selling vehicle has better selling efficiency in each time period.
Fig. 8 is a flowchart of another navigation method for an unmanned vending vehicle according to an embodiment of the present invention. Fig. 8 is a specific example of fig. 1, which corresponds to the second case. Referring to fig. 8, the navigation method of the unmanned vending vehicle includes:
s410, commodity sales data of at least two road sections in the unmanned selling vehicle cruising area are obtained, wherein the commodity sales data of each road section comprises commodity sales data of at least two time periods.
And S420, acquiring the current time period and the current position of the unmanned selling vehicle.
And S430, acquiring commodity sales data of each road section in the next time period.
And S440, determining the next required road section of the cruising route according to the commodity sales data of each road section in the next time period.
S450, planning a cruising route from the current position of the unmanned selling vehicle to the next necessary road section.
And S460, controlling the unmanned selling vehicle to travel along the cruising route.
Since in practice some road segments will exhibit distinct traffic volumes at different times of the day or on different days of the week. The technical scheme is that the cruising route is dynamically adjusted according to the passenger flow change of different road sections in different time periods, so that the unmanned selling vehicle has better selling efficiency in each time period.
It should be noted that, if the unmanned vehicle and the cloud server cooperate to execute the navigation method of the unmanned vehicle provided by the present application, which step is executed by the unmanned vehicle and which is executed by the cloud server is specific, the present application does not limit this.
Fig. 9 is a flowchart of another navigation method for an unmanned vending vehicle according to an embodiment of the present invention. Fig. 9 is a specific example of fig. 1. Referring to fig. 9, the navigation method of the unmanned vending vehicle includes:
and S510, dividing all paths of the cruise area into a plurality of road sections.
S520, the server obtains commodity sales data of at least one unmanned selling vehicle in each road section.
S530, the server forms commodity sales data of different road sections in the cruising area based on the commodity sales data of at least one unmanned selling vehicle in each road section.
And S540, acquiring commodity sales data of at least two road sections in the unmanned selling vehicle cruising area.
And S550, determining a necessary road section for selling the vehicle by the unmanned aerial vehicle according to the commodity sales data of the at least two road sections.
And S560, planning a cruising route for the unmanned selling vehicle, wherein the cruising route comprises a must-pass road section.
And S570, controlling the unmanned selling vehicle to travel along the cruising route.
And S580, the unmanned selling vehicles collect commodity sales data of at least two passing road sections and send the commodity sales data to the server.
By the arrangement, the commodity sales data of different road sections in the cruising area can be continuously updated and perfected through the cooperation of the S580 and the S520, the cruising route can be accurately planned, and the selling efficiency of unmanned selling vehicles is improved.
The embodiment of the invention also provides a navigation device of the unmanned vending vehicle. Fig. 10 is a flowchart of another navigation device for an unmanned vending vehicle according to an embodiment of the present invention. Referring to fig. 10, the navigation device of the unmanned vending vehicle includes: a merchandise sales data acquisition module 610, a cruise route planning module 620, and a travel control module 630.
The system comprises a commodity sales data acquisition module 610, a commodity sales data acquisition module and a commodity sales data acquisition module, wherein the commodity sales data acquisition module 610 is used for acquiring commodity sales data of at least two road sections in a cruising area of an unmanned selling vehicle;
the cruising route planning module 620 is used for planning a cruising route for the unmanned selling vehicle according to the commodity sales data of the at least two road sections;
a travel control module 630 for controlling the unmanned vending vehicle to travel along the cruising route.
In some embodiments, the commodity sales data obtaining module 610 is specifically configured to summarize commodity sales data of at least two road segments through which the unmanned selling vehicle passes, and send the summarized commodity sales data to the server.
In some embodiments, the navigation device of the unmanned vending vehicle further comprises commodity sales data collection modules for different road segments. The commodity sales data collection module includes:
a link dividing unit for dividing a road of a cruising area into a plurality of links;
the commodity sales data collection unit is used for acquiring average commodity sales data of unmanned selling vehicles in each road section;
and the commodity sales data summarizing unit is used for forming commodity sales data of different road sections in the cruising area based on average commodity sales data of unmanned selling vehicles in each road section.
In some embodiments, the merchandise sales data collection unit is configured to obtain average merchandise sales data for unmanned vehicles over road segments for at least one time period.
In some embodiments, the cruise route planning module 620 includes a must-pass road segment determination unit and a cruise route planning unit.
A must-pass road section determining unit, configured to determine a must-pass road section of the unmanned vending vehicle according to the commodity sales data of the at least two road sections;
the system comprises a cruising route planning unit and a traffic control unit, wherein the cruising route planning unit is used for planning a cruising route for the unmanned selling vehicle, and the cruising route comprises a must-pass road section.
In some embodiments, the commodity sales data includes a commodity sales amount; the indispensable highway section determining unit is specifically used for determining that the highway section with the commodity selling amount larger than the set threshold value is the indispensable highway section of the unmanned selling vehicle.
In some embodiments, the commodity sales data of each road segment includes commodity sales data of at least two time periods, and the must-pass road segment determining unit is specifically configured to determine a must-pass road segment of each time period of the unmanned vending vehicle according to the commodity sales data of at least two road segments;
the cruising route planning unit is specifically used for planning the cruising route of the unmanned selling vehicle reaching each indispensable road section according to the sequence.
In some embodiments, the navigation device of the unmanned vending vehicle further comprises:
the stay time determining module is used for determining the stay time of the unmanned selling vehicle on each indispensable road section according to the commodity sales data of the indispensable road section;
the cruise route planning unit is also used for planning the stay time of the unmanned vending vehicle on each required road section.
In some embodiments, the commodity sales data includes commodity sales volumes, and the time spans of different time periods are the same;
the stay time of the unmanned selling vehicle on the must-pass road section is positively correlated with the commodity selling amount of the road section.
In some embodiments, the must-go segment determining unit is specifically configured to:
acquiring a current time period and a current position of the unmanned vending vehicle;
acquiring commodity sales data of each road section in the next time period;
determining a next required road section of the cruising route according to the commodity sales data of all road sections in the next time period;
the cruising route planning unit is used for planning a cruising route from the current position of the unmanned selling vehicle to the next requisite road section.
The navigation device for the unmanned vehicle for sale can execute the navigation method for the unmanned vehicle for sale provided by any embodiment of the application, has corresponding functional modules and beneficial effects of the execution method, and is not repeated herein.
Fig. 11 is a block diagram of an electronic device according to an embodiment of the present application. Referring to fig. 11, the electronic device includes: at least one processor 701, at least one memory 702, and at least one communication interface 703. The various components in the electronic device are coupled together by a bus system 704. A communication interface 703 for information transmission with an external device. It is understood that the bus system 704 is used to enable communications among the components. The bus system 704 includes a power bus, a control bus, and a status signal bus in addition to a data bus. For clarity of illustration, the various buses are labeled in fig. 11 as bus system 704.
It will be appreciated that the memory 702 in this embodiment can be either volatile memory or nonvolatile memory, or can include both volatile and nonvolatile memory.
In some embodiments, memory 702 stores the following elements, executable units or data structures, or a subset thereof, or an expanded set thereof: an operating system and an application program.
The operating system includes various system programs, such as a framework layer, a core library layer, a driver layer, and the like, and is used for implementing various basic services and processing hardware-based tasks. The application programs include various application programs such as a media player (MediaPlayer), a Browser (Browser), etc. for implementing various application services. The program for implementing the navigation method for the unmanned vending vehicle provided by the embodiment of the application can be contained in the application program.
In this embodiment of the present application, the processor 701 is configured to execute the steps of the embodiments of the navigation method for an unmanned vending vehicle provided by the embodiment of the present application by calling a program or an instruction stored in the memory 702, specifically, a program or an instruction stored in an application program.
The navigation method for the unmanned vending vehicle provided by the embodiment of the application can be applied to the processor 701, or can be realized by the processor 701. The processor 701 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be implemented by integrated logic circuits of hardware or instructions in the form of software in the processor 701. The processor 701 may be a general-purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, or discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The steps of the navigation method for the unmanned vending vehicle provided by the embodiment of the application can be directly embodied as the execution of a hardware decoding processor, or the execution of the hardware decoding processor and a software unit in the decoding processor are combined. The software elements may be located in ram, flash, rom, prom, or eprom, registers, among other storage media that are well known in the art. The storage medium is located in the memory 702, and the processor 701 reads the information in the memory 702, and completes the steps of the method in combination with the hardware thereof.
The electronic device may further include one physical component or a plurality of physical components to implement control of the unmanned vehicle according to an instruction generated by the processor 701 when executing the navigation method of the unmanned vending vehicle provided by the embodiment of the application. Different physical components may be provided in or out of the unmanned vehicle, such as a cloud server or the like. The various physical components cooperate with the processor 701 and the memory 702 to implement the functions of the electronic device in this embodiment.
Embodiments of the present application also provide an article of manufacture comprising a computer-readable storage medium storing a program or instructions that when executed by a computer cause the computer to perform a method of navigating an unmanned sales vehicle, the method comprising:
acquiring commodity sales data of at least two road sections in a cruising area of an unmanned selling vehicle;
determining a necessary road section of the unmanned selling vehicle according to the commodity sales data of the at least two road sections;
planning a cruising route for the unmanned vending vehicle, the cruising route comprising obligatory road segments;
controlling the unmanned vending vehicle to travel along the cruising route.
Optionally, the computer executable instructions, when executed by the computer processor, may be further configured to implement the solution of the method for navigating an unmanned vending vehicle according to any of the embodiments of the present application.
From the above description of the embodiments, it is obvious for those skilled in the art that the present application can be implemented by software and necessary general hardware, and certainly can be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods described in the embodiments of the present application.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Those skilled in the art will appreciate that although some embodiments described herein include some features included in other embodiments instead of others, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (13)
1. A method of navigating an unmanned vending vehicle, comprising:
acquiring commodity sales data of at least two road sections in a cruising area of an unmanned selling vehicle;
planning a cruising route for the unmanned selling vehicle according to the commodity sales data of the at least two road sections;
controlling the unmanned vending vehicle to travel along the cruising route.
2. The navigation method according to claim 1, wherein the obtaining of the merchandise sales data for at least two road segments within the patrol area of the unmanned sell vehicle comprises:
the unmanned selling vehicle collects commodity selling data of at least two road sections passing through and sends the commodity selling data to the server.
3. The navigation method according to claim 1 or 2,
before the commodity sales data of two at least highway sections in the unmanned vehicle region of cruising of selling of obtaining, include:
dividing a road in a cruising area into a plurality of road sections;
acquiring average commodity sales data of unmanned vehicle sold in each road section;
and forming commodity sales data of different road sections in the cruising area based on average commodity sales data of unmanned vehicle sold in each road section.
4. The navigation method of claim 3,
the average commodity sales data of unmanned vehicle sold in each road section is obtained, and the method comprises the following steps:
and acquiring average commodity sales data of the unmanned selling vehicles in each road section in at least one time period.
5. The navigation method according to any one of claims 1-4, wherein planning the cruising route for the unmanned sell vehicle according to the commodity sales data for the at least two road segments comprises:
determining a necessary road section of the unmanned selling vehicle according to the commodity sales data of the at least two road sections;
planning a cruising route for the unmanned vehicle, the cruising route including an obligatory road segment.
6. The navigation method according to claim 5, wherein the commodity sales data includes commodity sales volume; the determining of the sections of the unmanned vehicle that must pass through according to the commodity sales data of the at least two sections comprises:
and determining that the road section with the commodity selling amount larger than the set threshold value is a necessary road section of the unmanned selling vehicle.
7. The navigation method according to claim 5, wherein the commodity sales data for each road segment comprises commodity sales data for at least two time periods, and the determining a must-pass road segment of the unmanned sales vehicle according to the commodity sales data for at least two road segments comprises:
determining a necessary road section of each time period of the unmanned selling vehicle according to the commodity sales data of at least two road sections;
for unmanned vehicle plans the route of cruising, include:
planning the cruising route of the unmanned selling vehicle to reach each requisite road section according to the sequence.
8. The navigation method of claim 7, further comprising: determining the stay time of the unmanned selling vehicle in each indispensable road section according to the commodity sales data of the indispensable road section;
for unmanned vehicle planning route of selling still includes:
and planning the stay time of the unmanned selling vehicle in each necessary road section.
9. The navigation method of claim 8,
the commodity sales data comprises commodity sales volume, and the time spans in different time periods are the same;
the stay time of the unmanned selling vehicle on the must-pass road section is positively correlated with the commodity selling amount of the road section.
10. The navigation method according to claim 5, wherein the commodity sales data for each road segment comprises commodity sales data for at least two time periods, and the determining a must-pass road segment of the unmanned sales vehicle according to the commodity sales data for at least two road segments comprises:
acquiring a current time period and a current position of the unmanned vending vehicle;
acquiring commodity sales data of each road section in the next time period;
determining a next required road section of the cruising route according to the commodity sales data of each road section in the next time period;
for unmanned vehicle plans the route of cruising, include:
and planning a cruising route from the current position of the unmanned selling vehicle to the next requisite road section.
11. A navigation device for an unmanned vending vehicle, comprising:
the commodity sales data acquisition module is used for acquiring commodity sales data of at least two road sections in the unmanned selling vehicle cruising area;
the cruise route planning module is used for planning a cruise route for the unmanned selling vehicle according to the commodity sales data of the at least two road sections;
a travel control module for controlling the unmanned vending vehicle to travel along the cruising route.
12. An electronic device, comprising: a processor and a memory;
the processor is adapted to perform the steps of the method of any one of claims 1 to 10 by calling a program or instructions stored in the memory.
13. A computer-readable storage medium, characterized in that it stores a program or instructions for causing a computer to carry out the steps of the method according to any one of claims 1 to 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911414977.7A CN110986992A (en) | 2019-12-31 | 2019-12-31 | Navigation method and device for unmanned vending vehicle, electronic equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911414977.7A CN110986992A (en) | 2019-12-31 | 2019-12-31 | Navigation method and device for unmanned vending vehicle, electronic equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110986992A true CN110986992A (en) | 2020-04-10 |
Family
ID=70079879
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911414977.7A Pending CN110986992A (en) | 2019-12-31 | 2019-12-31 | Navigation method and device for unmanned vending vehicle, electronic equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110986992A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111754266A (en) * | 2020-06-28 | 2020-10-09 | 北京云迹科技有限公司 | Vending machine control method and device and electronic equipment |
| CN114549089A (en) * | 2022-04-25 | 2022-05-27 | 新石器慧通（北京）科技有限公司 | Method and device for searching unmanned vehicle patrol sale hot sale service site |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106355345A (en) * | 2016-09-08 | 2017-01-25 | 京东方科技集团股份有限公司 | Intelligent dispatching system and method of automatic vending robots |
| CN107527435A (en) * | 2017-08-14 | 2017-12-29 | 苏州马尔萨斯文化传媒有限公司 | A kind of unmanned cold beverage vending car of the automation integrated formula of dense population areas self-powered type |
| CN108242102A (en) * | 2017-12-28 | 2018-07-03 | 纳恩博（北京）科技有限公司 | Information processing method and device, electronic equipment and storage medium |
| US20180374353A1 (en) * | 2017-06-21 | 2018-12-27 | International Business Machines Corporation | Management of mobile objects |
| CN110135660A (en) * | 2019-05-29 | 2019-08-16 | 新石器慧通（北京）科技有限公司 | A kind of unmanned sales cart and vending method of cruising |
| CN110249345A (en) * | 2017-04-26 | 2019-09-17 | 深圳市元征科技股份有限公司 | A kind of commercial articles vending method and sale terminal |
| CN110262503A (en) * | 2019-07-01 | 2019-09-20 | 百度在线网络技术（北京）有限公司 | Unmanned sales cart dispatching method, device, equipment and readable storage medium storing program for executing |
-
2019
- 2019-12-31 CN CN201911414977.7A patent/CN110986992A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106355345A (en) * | 2016-09-08 | 2017-01-25 | 京东方科技集团股份有限公司 | Intelligent dispatching system and method of automatic vending robots |
| CN110249345A (en) * | 2017-04-26 | 2019-09-17 | 深圳市元征科技股份有限公司 | A kind of commercial articles vending method and sale terminal |
| US20180374353A1 (en) * | 2017-06-21 | 2018-12-27 | International Business Machines Corporation | Management of mobile objects |
| CN107527435A (en) * | 2017-08-14 | 2017-12-29 | 苏州马尔萨斯文化传媒有限公司 | A kind of unmanned cold beverage vending car of the automation integrated formula of dense population areas self-powered type |
| CN108242102A (en) * | 2017-12-28 | 2018-07-03 | 纳恩博（北京）科技有限公司 | Information processing method and device, electronic equipment and storage medium |
| CN110135660A (en) * | 2019-05-29 | 2019-08-16 | 新石器慧通（北京）科技有限公司 | A kind of unmanned sales cart and vending method of cruising |
| CN110262503A (en) * | 2019-07-01 | 2019-09-20 | 百度在线网络技术（北京）有限公司 | Unmanned sales cart dispatching method, device, equipment and readable storage medium storing program for executing |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111754266A (en) * | 2020-06-28 | 2020-10-09 | 北京云迹科技有限公司 | Vending machine control method and device and electronic equipment |
| CN114549089A (en) * | 2022-04-25 | 2022-05-27 | 新石器慧通（北京）科技有限公司 | Method and device for searching unmanned vehicle patrol sale hot sale service site |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9996798B2 (en) | Traffic prediction using real-world transportation data | |
| DE60319993T2 (en) | DEVICE AND METHOD FOR TRANSPORT INFORMATION PROCESSING | |
| EP3519774B1 (en) | Methods and systems for generating parking related data | |
| Yuan et al. | T-drive: driving directions based on taxi trajectories | |
| KR20120049846A (en) | Predicting expected road traffic conditions based on historical and current data | |
| CN109754594A (en) | A kind of road condition information acquisition method and its equipment, storage medium, terminal | |
| CN102939623A (en) | Learning road navigation paths based on aggregate driver behavior | |
| CN110222131A (en) | The beginning and the end information extracting method and device | |
| EP1532600A2 (en) | Apparatus and method for providing traffic information | |
| CN108734955A (en) | The method and device of predicting road conditions state | |
| Ram et al. | SMARTBUS: A web application for smart urban mobility and transportation | |
| US10359291B2 (en) | Determining network maps of transport networks | |
| Huang et al. | Travel time prediction using tree-based ensembles | |
| CN105632222A (en) | Method and system for predicting station arrival time | |
| CN108765018A (en) | Based on the associated adaptive advertisement pushing method and system of people's vehicle | |
| CN110986992A (en) | Navigation method and device for unmanned vending vehicle, electronic equipment and storage medium | |
| CN110021161A (en) | A kind of prediction technique and system of traffic direction | |
| CN114596709A (en) | Data processing method, device, equipment and storage medium | |
| CN108020235B (en) | Method and system for dynamically acquiring path weight based on taxi experience data | |
| Lu et al. | A parking occupancy prediction approach based on spatial and temporal analysis | |
| Ostrowski et al. | Availability and reliability of a signalised lane | |
| CN103839424B (en) | A kind of taxi empty navigational system and method based on recruiting car expectation value | |
| CN114413923B (en) | Driving route recommendation method, device, storage medium and system | |
| CN113256212B (en) | Order processing method, device, communication equipment and storage medium | |
| CN110807912A (en) | Road driving speed prediction method, terminal device and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200410 |